RE: [CAD_CAM_EDM_DRO] setting up EMC

Hi Terry,

First off, you will need to uncomment the PERIOD parameter if you are using
freqmod.o and I suggest something less than the 0.0005 it is currently set
for. Try something like 0.00025 for a starter. It is wrong the screen will
not update with reasonable response, that is the mouse pointer is very slow
/ jerky.

With freqmod.o you will also need the INPUT_SCALE and OUTPUT_SCALE values to
be the same. Set them to the number of steps per inch for your machine.
You will also need to reduce the values in MAX_VELOCITY, MAX_ACCELERATION
and DEFAULT_ACCELERATION. Try 0.20, 0.50 and 0.50 respectively for these
values. These will not be optimal, but they should get you some motion.

John Guenther
Sterling, Virginia

> -----Original Message-----
> From: terrytwombly [mailto:ttwombly@...]
> Sent: Monday, July 22, 2002 22:03
> To: CAD_CAM_EDM_DRO@yahoogroups.com
> Subject: [CAD_CAM_EDM_DRO] setting up EMC
>
>
> First off a big thank you for any and all help.
> Terry Twombly
> ttwombly@...
>
> Ok forget about setting up my mill with EMC now, I just want to have
> EMC make some steppers move. What I did this weekend is copied the
> simulation .ini into the EMC .ini changed a few things like, (realtime
> which is what I want) ( freqmode.0, I believe I need this so I can
> hook up my linear Encoders) and I believe to only other thing, I had
> to change the, ENABLE_POLARITY = 0,
> MIN_LIMIT_SWITCH_POLARITY =0.
> MAX_LIMIT_SWITCH_POLARITY = 0, HOME_SWITCH_POLARITY = 0. I have the
> computer hooked up to a step, direction controller that I made with
> three stepper motors, I have nothing else hooked up. I am trying to
> get EMC to talk to the steppers and make them move, then I will come
> back and reset the EMC.ini for the mill.
>
> My system is a cheapo tower and board with a 266 AMD and 30M ram
> memory,with BDI working.
>
> I entered into the console (konsole). I can not go anywhere clicking
> on the icon on the desk top and I do hope that we can fix that to. So
> I used the konsole and hear is what is happening.
>
> FROM ROOT and it only works from root It will not work from a konsole
> from the desk top.
>
> [root@localhost /root]# cd /usr/local/emc
> [root@localhost emc]# ./emc.run
> Current platform is linux_2_2_18
> Current real-time platform is rtlinux_3_0
> inivar = plat/linux_2_2_18/bin/inivar
> INIFILE = emc.ini
> starting emc...
> starting EMC MOTION PROGRAM ? freqmode.0?done
> VERSION: 1.2
> MACHAINE: TERRYS CONTROLLER
> Starting EMC SEVER PROGRAME ? emcsvr?done
> Running EMC DISPLAY PRORGAMR ? tkemc
> Issuing EMC_TASK_SET_TERM_COND ? (+222,16, +0, +2, )
> Issuing EMC_TRAJ_SET_origin -- ( +224,+60,
> +0,0.000079,0.000000,0.000000,0.000000,0.000000,0.000000)
> Issuing EMC_TASK_MODE ? (+504, _16, +2,g21,)
> EmcTaskPlanExecute(g21) returned 0
> Issuing EMC_TASK_PLAN_EXECUTE -- (+504, +16, +3, +1,)
> EmcTaskPlanClose() called
> Outgoing motion id is ?2
> Issuing EMC_TASK_PLAN_SYNCH -- (+516, _12, +0,)
> EmcTaskPlanSynch () returned 0
> Issuing EMC_TRAJ_SET_SCALE --- (+209,+20, +4,1.000000,)
>
> With this I get a nice control panel with Big YELLOW NUMBERS then I
> try to use the control to make motion by, going to estop reset,estop
> off then click it again and machine on then spindle forward then break
> off then I hit the + button and I get Error: Axis following error.
>
> In the (Terminal box) below Issuing EMC_TRAJ_SET_SCALE --- (+209,+20,
> +4,1.000000,) are new lines of code as seen below.
>
> Command (EMC_AXIS_INCR_JOG) cannot be executed until the machine is
> out of estop and turned on
> Issuing EMC_TASK_SET_SATE ? (+505,+16, +7, +2,)
> Issuing EMC_TASK_SET_SATE ? (+505,+16, +8, +4,)
> Issuing EMC_TASK_SET_SATE ? (+125,+32, +9, +0,1.000000,1.000000,)
> Axis 0 following error
> Minimilltaskinf.cc 962: Error on axis 0.
> EmcTaskPlanClose() called
>
> My EMC.ini looks like
> Version = revision:1.2 $
>
> Machine = Terrys controller
>
> NML_file = emc.nml
>
> Debug = 0x7FFFFFFF
> RS274NGC_STARTUP_CODE = G-20
>
> REALTIME
>
> DISPLAY tkemc
>
> CYCLE_TIME 0.200
>
> POSITION_OFFSET = ACTUAL
>
> MAX_FEED = 1.2
>
> [TASK]
>
> PLAT= REALTIME
>
> TASK = minmilltask
>
> CYDLE_TIME 0.100
>
> [ EMCMOT ]
>
> PLAT = REALTIME
>
> EMCMOT = freqmode.0 ( I want to set this up with encoders and was
> told that it had to be in freqmode.0 to do this, at the time of trials
> I do not have the encoder card in this computer.)
>
> Shmen = 100
>
> SHEM_BASE-ADDRESS = 0X300
>
> PARPORT_IO_ADDRESS = 0X378
>
> COM_TIMEOUT + 0.100
>
> ; PERIOD = 0.0005 ( I HAVE NRVER SEEN ANYTHING TO SAY I SHHOULD
> DO ANYTHING WITH THIS)
>
> AXIS =3
> COOORDINATES = XYZ
> HOME = 000
> LINEAR_UNITS = 0.03937007874016
> ANGULAR_UNITS = 1.0
> CYCLE_TIME = 0.060
> DEFAULT_VELOCITY = 1.2
> DEFAULT_ACCELERATION = 20.0
> MAX_ACCELERATION = 20.0
> PROBE_INDEX = 0
> PROBE_POLARITY = 1
>
>
> ; First axis
> [AXIS_0]
>
> TYPE = LINEAR
> UNITS = 0.03937007874016
> HOME = 0.000
> MAX_VELOCITY = 1.2
> P = 1000.000
> I = 0.000
> D = 0.0300
> FF0 = 0.000
> FF1 = 0.077
> FF2 = 0.000
> BACKLASH = 0.000
> BIAS = 0.000
> MAX_ERROR = 0.000
> DEADBAND = 0.000
> CYCLE_TIME = 0.03000
> INPUT_SCALE = 1000 0
> OUTPUT_SCALE = 1.000 0.000
> MIN_LIMIT = -10.0
> MAX_LIMIT = 10.0
> MIN_OUTPUT = -10
> MAX_OUTPUT = 10
> FERROR = 1.000
> MIN_FERROR = 1.000
> HOMING_VEL = 0.1
> HOME_OFFSET = 0.0
> ENABLE_POLARITY = 0
> MIN_LIMIT_SWITCH_POLARITY = 0
> MAX_LIMIT_SWITCH_POLARITY = 0
> HOME_SWITCH_POLARITY = 0
> HOMING_POLARITY = 1
> JOGGING_POLARITY = 1
> FAULT_POLARITY = 1
> ; Parameters for Inland Motor BMHS-0701 X 20
> TORQUE_UNITS = OZ_IN
> ARMATURE_RESISTANCE = 1.10
> ARMATURE_INDUCTANCE = 0.0120
> BACK_EMF_CONSTANT = 0.0254
> ROTOR_INERTIA = 0.0104
> DAMPING_FRICTION_COEFFICIENT = 0.083
> SHAFT_OFFSET = 0
> REVS_PER_UNIT = 10
> ; Parameters for generic amplifier
> AMPLIFIER_GAIN = 1
> MAX_OUTPUT_CURRENT = 10
> LOAD_RESISTANCE = 1
> ; parameters for generic encoder
> COUNTS_PER_REV = 4096
>
> THIS IS WHAT I HAVE FOR ALL THREE AXISES
>
>
> Addresses:
> FAQ: http://www.ktmarketing.com/faq.html
> FILES: http://groups.yahoo.com/group/CAD_CAM_EDM_DRO/files/
>
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